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<h1>mdl_puma560</h1><p><span class="helptopic">Create model of Puma 560 manipulator</span></p><pre style="width: 90%%;" class="examples">
mdl_puma560
</pre>
<p>
Script creates the workspace variable p560 which describes the
kinematic and dynamic characteristics of a Unimation Puma 560 manipulator
using standard DH conventions.
The model includes armature inertia and gear ratios.

</p>
<p>
Also define the workspace vectors:

</p>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> qz</td> <td>zero joint angle configuration</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qr</td> <td>vertical 'READY' configuration</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qstretch</td> <td>arm is stretched out in the X direction</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> qn</td> <td>arm is at a nominal non-singular configuration</td></tr>
</table>
<h2>Reference</h2>
<ul>
  <li>"A search for consensus among model parameters reported for the PUMA 560 robot",
P. Corke and B. Armstrong-Helouvry,
Proc. IEEE Int. Conf. Robotics and Automation, (San Diego),
pp. 1608-1613, May 1994.</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc serialrevolute">serialrevolute</a>, <a href="matlab:doc mdl_puma560akb">mdl_puma560akb</a>, <a href="matlab:doc mdl_stanford">mdl_stanford</a>, <a href="matlab:doc mdl_twolink">mdl_twolink</a></p>
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<p class="copy">&copy; 1990-2012 Peter Corke.</p>
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